WO2019155691A1 - Appareil de mesure, corps sphérique, système de mesure, procédé de commande et programme - Google Patents

Appareil de mesure, corps sphérique, système de mesure, procédé de commande et programme Download PDF

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Publication number
WO2019155691A1
WO2019155691A1 PCT/JP2018/038444 JP2018038444W WO2019155691A1 WO 2019155691 A1 WO2019155691 A1 WO 2019155691A1 JP 2018038444 W JP2018038444 W JP 2018038444W WO 2019155691 A1 WO2019155691 A1 WO 2019155691A1
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unit
acceleration
acceleration sensor
measurement
sleep mode
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PCT/JP2018/038444
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English (en)
Japanese (ja)
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謙 三浦
東一 奥野
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アルプスアルパイン株式会社
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Publication of WO2019155691A1 publication Critical patent/WO2019155691A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups

Definitions

  • the present invention relates to a measurement device, a sphere, a measurement system, a control method, and a program.
  • acceleration generated in the device can be measured by an acceleration sensor mounted in the device.
  • a device that can correct an error in acceleration output from the acceleration sensor based on acceleration detected by the acceleration sensor when the device main body is in a stationary state.
  • Patent Document 1 relates to a pen-type input device, and determines a stationary state from a difference in magnitude between a combined acceleration vector detected by an acceleration sensor and gravitational acceleration, and accelerates when the stationary state is determined.
  • a technique for calculating the initial tilt angle of the pen axis based on the acceleration detected by the sensor is disclosed.
  • a measurement device is a measurement device including an acceleration sensor and a control device, and the measurement device has a normal operation mode and a sleep mode in which power consumption is lower than that of the normal operation mode.
  • the control device includes: a determination unit that determines a stationary state of the measurement device based on the acceleration detected by the acceleration sensor when the measurement device is in the sleep mode; and And an output unit that outputs the acceleration detected by the acceleration sensor in the stationary state as correction data for the acceleration sensor.
  • FIG. 1 is a diagram illustrating a system configuration of a measurement system 10 according to the first embodiment.
  • the measurement system 10 includes a ball 12, a smartphone 14, and a cloud server 16.
  • the ball 12 is used as a ball for ball games (for example, for baseball, soccer, golf, etc.), and when the ball 12 flies, the acceleration, angular velocity, and geomagnetism of the ball 12 are The measurement can be continuously performed by a measurement module 100 (see FIG. 2) provided inside the ball 12. Further, the ball 12 can wirelessly communicate with the smartphone 14, and can output each measurement data (acceleration, angular velocity, and geomagnetism) to the smartphone 14 through the wireless communication.
  • a measurement module 100 see FIG. 2
  • the ball 12 can wirelessly communicate with the smartphone 14, and can output each measurement data (acceleration, angular velocity, and geomagnetism) to the smartphone 14 through the wireless communication.
  • the smartphone 14 is a mobile terminal device possessed by the user.
  • the smartphone 14 can perform various operations (for example, a mode switching operation) on the ball 12 by wireless communication with the ball 12.
  • the smartphone 14 is wirelessly connected to a communication network 15 (for example, Wi-Fi, the Internet, etc.), and can communicate with the cloud server 16 via the communication network 15.
  • the smartphone 14 can transfer each measurement data (acceleration, angular velocity, and geomagnetism) acquired from the ball 12 to the cloud server 16.
  • the cloud server 16 can store each measurement data (acceleration, angular velocity, and geomagnetism) transferred from the smartphone 14 in a database.
  • the cloud server 16 can display each measurement data stored in the database, for example, on a display or use it for analysis such as how the ball 12 is rotated.
  • the ball 12 uses the correction data of the acceleration sensor 111 as the acceleration detected by the acceleration sensor 111 when the ball 12 is in the sleep mode and the stationary state. Can be output to the smartphone 14.
  • the smartphone 14 can transfer the correction data acquired from the ball 12 to the cloud server 16 and accumulate the data in a database included in the cloud server 16.
  • the cloud server 16 calculates the correction value of the acceleration sensor 111 using a plurality of correction data stored in the database, and corrects the acceleration output from the acceleration sensor 111 using the calculated correction value. be able to.
  • FIG. 2 is a diagram illustrating a schematic configuration of the ball 12 according to the first embodiment.
  • the ball 12 shown in FIG. 2 is an example of a “sphere” and has a spherical outer shape.
  • the ball 12 includes a measurement module 100, a pincushion layer 12A, and a skin layer 12B.
  • the measurement module 100 is an example of a “measurement device”.
  • the measurement module 100 is provided approximately at the center inside the ball 12.
  • the measurement module 100 includes a case 101 and a measurement circuit 102.
  • the case 101 has a spherical outer shape and is a hollow member formed from a relatively hard material (for example, a hard resin).
  • the measurement circuit 102 is a device that is fixedly disposed inside the case 101.
  • the measurement circuit 102 includes an acceleration sensor 111, a gyro sensor 112, a geomagnetic sensor 113, and the like mounted on a circuit board 102A.
  • the axial directions of these three axes are set in advance so that the X axis direction, the Y axis direction, and the Z axis direction are all predetermined directions.
  • the directions parallel to the surface of the circuit board 102A are defined as the X-axis direction and the Y-axis direction
  • the direction perpendicular to the surface of the circuit board 102A is defined as the Z-axis direction.
  • the acceleration sensor 111 and the gyro sensor 112 are the acceleration and angular velocity (that is, the acceleration generated in the ball 12) generated in the measurement module 100 for each of the three axes (X axis, Y axis, and Z axis) whose axial directions are defined in advance. , Angular velocity) can be detected.
  • the geomagnetic sensor 113 can detect geomagnetism for each of the three axes (X axis, Y axis, Z axis) whose axial directions are defined in advance.
  • the bobbin layer 12 ⁇ / b> A is provided outside the measurement module 100 so as to cover the outer surface of the measurement module 100.
  • the bobbin layer 12 ⁇ / b> A is formed by winding a plurality of yarns (for example, cotton yarn, wool yarn, rubber yarn) on the outer surface of the measurement module 100.
  • the skin layer 12B is a member that constitutes the outer surface of the ball 12, and is provided on the outer side of the bobbin layer 12A so as to cover the outer surface of the bobbin layer 12A.
  • the skin layer 12B is formed of a material such as leather (for example, cow leather, artificial leather, etc.).
  • FIG. 3 is a state transition diagram of the measurement module 100 according to the first embodiment.
  • the measurement module 100 has a “normal operation mode”, a “first sleep mode”, and a “second sleep mode”.
  • the “normal operation mode” is a mode in which measurement data (acceleration, angular velocity, and geomagnetism) can be measured and output.
  • the “first sleep mode” is a mode that consumes less power than the “normal operation mode”. For example, in the “first sleep mode”, at least acceleration can be measured and output by the acceleration sensor.
  • the “second sleep mode” is a mode that consumes less power than the “first sleep mode”. For example, in the second sleep mode, only a minimum necessary operation (for example, an operation necessary for starting the measurement module 100) can be performed.
  • the measurement module 100 when the measurement module 100 is in the “normal operation mode” and receives an instruction to switch to the sleep mode from the smartphone 14, the measurement module 100 switches to the “first sleep mode”.
  • the measurement module 100 When the measurement module 100 is in the “first sleep mode” and enters a stationary state, the measurement module 100 outputs the acceleration measured by the acceleration sensor 111 at that time as correction data for the acceleration sensor 111. Furthermore, when outputting the correction data of the acceleration sensor 111, the measurement module 100 switches to the “second sleep mode”.
  • FIG. 4 is a diagram illustrating a hardware configuration of the measurement module 100 according to the first embodiment.
  • the measurement module 100 includes an acceleration sensor 111, a gyro sensor 112, a geomagnetic sensor 113, a microcomputer 114, a memory 115, a communication I / F (Inter Face) 116, and a battery 117.
  • these hardware components are mounted on the circuit board 102A (see FIG. 2), and are electrically connected to each other by wiring formed on the circuit board 102A.
  • the acceleration sensor 111 detects the acceleration generated in the measurement module 100 (that is, the ball 12) for each of the three axes defined in advance (X axis, Y axis, Z axis).
  • the acceleration detected by the acceleration sensor 111 is supplied to the microcomputer 114.
  • the acceleration sensor 111 for example, a strain gauge type acceleration sensor, a piezoresistive type acceleration sensor, a piezoelectric type acceleration sensor, or the like can be used.
  • the gyro sensor 112 detects an angular velocity generated in the measurement module 100 (that is, the ball 12) for each of the three predefined axes (X axis, Y axis, Z axis).
  • the angular velocity detected by the gyro sensor 112 is supplied to the microcomputer 114.
  • a vibration type gyro sensor, a capacitance type gyro sensor, or the like can be used as the gyro sensor 112 .
  • the geomagnetic sensor 113 detects the geomagnetism of each of three predefined axes (X axis, Y axis, Z axis).
  • the geomagnetism detected by the geomagnetic sensor 113 is supplied to the microcomputer 114.
  • a magnetoresistive sensor, a hall sensor, or the like can be used as the geomagnetic sensor 113.
  • the microcomputer 114 is an example of a “control device” and a “computer”.
  • the microcomputer 114 includes a processor, and the processor implements various functions included in the measurement module 100 by executing a program stored in the memory 115 or the like. For example, when the measurement module 100 is in the “normal operation mode”, the microcomputer 114 transmits each measurement data (acceleration, angular velocity, and geomagnetism) supplied from each sensor to the external information processing via the communication I / F 116. It has the function to output to an apparatus (for example, smart phone 14).
  • each measurement data acceleration, angular velocity, and geomagnetism
  • the microcomputer 114 determines whether or not the measurement module 100 (that is, the ball 12) is in a stationary state, and the measurement module 100 is in a stationary state.
  • the acceleration detected by the acceleration sensor 111 is output as correction data for the acceleration sensor 111 to an external information processing apparatus (for example, the smartphone 14).
  • the memory 115 stores, for example, a program executed by the microcomputer 114 and various data used when the microcomputer 114 executes the program.
  • a RAM Random Access Memory
  • the memory 115 for example, a RAM (Random Access Memory) or the like can be used.
  • the communication I / F 116 controls communication with an external information processing apparatus (for example, the smartphone 14).
  • an external information processing apparatus for example, the smartphone 14.
  • BLE Bluetooth (registered trademark) Low Energy
  • Wi-Fi Wireless Fidelity
  • NFC Near Field Communication
  • USB Universal
  • USB Universal
  • the battery 117 supplies DC power to each part of the measurement module 100.
  • a primary battery for example, a silver oxide battery, a lithium battery, or the like
  • various secondary batteries for example, a lithium ion secondary battery, a lithium ion polymer secondary battery, a nickel hydrogen secondary battery, etc.
  • a lithium ion secondary battery for example, a lithium ion polymer secondary battery, a nickel hydrogen secondary battery, etc.
  • various secondary batteries for example, a lithium ion secondary battery, a lithium ion polymer secondary battery, a nickel hydrogen secondary battery, etc.
  • FIG. 5 is a diagram illustrating a functional configuration of the measurement system 10 according to the first embodiment.
  • the measurement module 100 includes a main control unit 300, an acceleration acquisition unit 301, an angular velocity acquisition unit 302, a geomagnetism acquisition unit 303, an instruction reception unit 304, a state switching unit 305, a determination unit 306, and an output unit 307. It has.
  • the main control unit 300 controls the entire processing by the measurement module 100.
  • the main control unit 300 controls the start of processing by the measurement module 100, the end of processing, repetition of processing, execution of processing by each functional unit, and the like.
  • the acceleration acquisition unit 301 acquires the acceleration output from the acceleration sensor 111. Specifically, the acceleration acquisition unit 301 acquires the acceleration of each of the three axes (X axis, Y axis, and Z axis) output from the acceleration sensor 111.
  • the angular velocity acquisition unit 302 acquires the angular velocity output from the gyro sensor 112. Specifically, the angular velocity acquisition unit 302 acquires the angular velocities of the three axes (X axis, Y axis, and Z axis) output from the gyro sensor 112.
  • angular velocity of the X axis means an angular velocity having the X axis as a rotation axis.
  • Y-axis angular velocity means an angular velocity with the Y-axis as a rotation axis
  • Z-axis angular velocity means an angular velocity with the Z-axis as a rotation axis.
  • the geomagnetism acquisition unit 303 acquires the geomagnetism output from the geomagnetic sensor 113. Specifically, the geomagnetism acquisition unit 303 acquires the geomagnetism of each of the three axes (X axis, Y axis, Z axis) output from the geomagnetic sensor 113.
  • the instruction receiving unit 304 receives various switching instructions (switching instruction to “sleep mode” and switching instruction to “normal operation mode”) transmitted from the smartphone 14 via the communication I / F 116.
  • the state switching unit 305 causes the measurement module 100 to enter the “first sleep mode”. Switch to.
  • the state switching unit 305 switches the measurement module 100 to the “second sleep mode”.
  • the state switching unit 305 detects a predetermined activation event (for example, when a predetermined operation is detected based on the output of each sensor) in the measurement module 100 When the internal circuit is activated by receiving wireless power supply, the measurement module 100 is activated. Thereafter, when the instruction receiving unit 304 receives an instruction to switch to the “normal operation mode”, the state switching unit 305 switches the measurement module 100 to the “normal operation mode”.
  • a predetermined activation event for example, when a predetermined operation is detected based on the output of each sensor
  • the determination unit 306 determines the stationary state of the measurement module 100 based on the acceleration detected by the acceleration sensor 111 when the measurement module 100 is in the “first sleep mode”. For example, when the measurement module 100 is in the “first sleep mode”, the determination unit 306 has little variation in value in continuous data of acceleration for a certain time or a certain number (for example, When the fluctuation amount is equal to or less than a predetermined threshold value), it is determined that the measurement module 100 is in a stationary state.
  • the output unit 307 outputs each measurement data (acceleration, angular velocity, and geomagnetism) to the smartphone 14 when the measurement module 100 is in the “normal operation mode”. Specifically, the output unit 307 includes the acceleration of each of the three axes (X axis, Y axis, and Z axis) acquired by the acceleration acquisition unit 301, and the three axes (X axis, Y acquired by the angular velocity acquisition unit 302). Output to the smartphone 14 via the communication I / F 116, the angular velocities of each of the three axes (X axis, Y axis, Z axis) acquired by the geomagnetism acquisition unit 303. To do.
  • the output unit 307 includes the three axes (X) acquired by the acceleration acquisition unit 301 in the stationary state. (Axis, Y axis, Z axis) are output to the smartphone 14 via the communication I / F 116 as correction data for the acceleration sensor 111.
  • the output unit 307 outputs a moving average value of predetermined N accelerations for each of the three axes (X axis, Y axis, Z axis) to the smartphone 14 as correction data for the acceleration sensor 111. Is preferred. Thereby, for example, the output unit 307 can smooth the noise included in the acceleration and output a more accurate acceleration value as correction data of the acceleration sensor 111.
  • each function of the measurement module 100 described above is realized by the microcomputer 114 executing a program stored in the memory 115, for example.
  • the program executed by the microcomputer 114 may be provided in a state of being introduced into the measurement module 100 in advance, or may be provided from the outside and introduced into the measurement module 100. In the latter case, this program may be provided by an external storage medium (for example, a USB memory, a memory card, a CD-ROM, etc.), or provided by downloading from a server on a network (for example, the Internet, etc.). You may do it.
  • the smartphone 14 includes an instruction transmission unit 311, a reception unit 312, and a transfer unit 313.
  • the instruction transmission unit 311 transmits various switching instructions to the measurement module 100 via wireless communication with the measurement module 100.
  • the instruction transmission unit 311 transmits an instruction to switch to the “normal operation mode” to the measurement module 100 in response to the activation operation.
  • the instruction transmission unit 311 In response to the end operation, an instruction to switch to the “sleep mode” is transmitted to the measurement module 100.
  • the receiving unit 312 receives each measurement data (acceleration, angular velocity, and geomagnetism) output from the measurement module 100 via wireless communication with the measurement module 100.
  • the receiving unit 312 receives correction data for the acceleration sensor 111 output from the measurement module 100 via wireless communication with the measurement module 100.
  • the transfer unit 313 transfers the measurement data to the cloud server 16 via communication with the cloud server 16. Further, when the receiving unit 312 receives the correction data of the acceleration sensor 111, the transfer unit 313 transfers the correction data of the acceleration sensor 111 to the cloud server 16 via communication with the cloud server 16. .
  • the cloud server 16 includes a reception unit 321, a storage unit 322, a correction value calculation unit 323, and a correction unit 324.
  • the receiving unit 321 receives each measurement data (acceleration, angular velocity, and geomagnetism) transmitted from the smartphone 14 via communication with the smartphone 14. In addition, the receiving unit 321 receives the correction data of the acceleration sensor 111 transmitted from the smartphone 14 through communication with the smartphone 14.
  • the storage unit 322 is a database that stores various data. For example, each time the measurement data (acceleration, angular velocity, and geomagnetism) is received by the reception unit 321, the storage unit 322 registers the measurement data. Thereby, the storage unit 322 stores a plurality of pieces of measurement data (acceleration, angular velocity, and geomagnetism). Further, for example, every time the correction data of the acceleration sensor 111 is received by the reception unit 321, the storage unit 322 registers the correction data of the acceleration sensor 111. As a result, the storage unit 322 stores the correction data for the plurality of acceleration sensors 111.
  • the correction value calculation unit 323 calculates the correction value of the acceleration sensor 111 based on a plurality of correction data stored in the storage unit 322.
  • the correction unit 324 corrects the acceleration accumulated as measurement data in the accumulation unit 322 using the correction value of the acceleration sensor 111 calculated by the correction value calculation unit 323.
  • the correction timing by the correction unit 324 may be any timing.
  • the correction unit 324 may read the acceleration from the storage unit 322 at a predetermined timing, correct the acceleration, and then write the corrected acceleration to the storage unit 322 again.
  • the correction unit 324 may correct the acceleration when the acceleration is stored in the storage unit 322.
  • the correction unit 324 may correct the acceleration when the acceleration is read from the storage unit 322 and used in some application.
  • FIG. 6 is a diagram illustrating an example (first example) of a processing sequence performed by the measurement system 10 according to the first embodiment. In the first example, a process until the correction value of the acceleration sensor 111 is calculated by the measurement system 10 will be described.
  • the instruction transmission unit 311 transmits an instruction to switch to the “sleep mode” to the measurement module 100 (step S601).
  • the state switching unit 305 causes the measurement module 100 to be in the “first sleep mode”. (Step S603).
  • the output unit 307 uses the acceleration measured by the acceleration sensor 111 in the stationary state as the correction data for the acceleration sensor 111, and the smartphone. 14 (step S605). Thereafter, the state switching unit 305 switches the measurement module 100 to the “second sleep mode” (step S606).
  • the transfer unit 313 transfers the correction data to the cloud server 16 (step S608).
  • the storage unit 322 stores the correction data (step S610).
  • step S ⁇ b> 604 to step S ⁇ b> 610 is executed, and correction data is accumulated in the accumulation unit 322 each time.
  • the correction value calculation unit 323 is based on the plurality of correction data stored in the storage unit 322, and the acceleration sensor 111. Is calculated (step S612).
  • the correction value is stored in a memory included in the cloud server 16 and is used by the correction unit 324 to correct the acceleration output from the acceleration sensor 111.
  • the occurrence factor of the predetermined correction value calculation process start event may be any, for example, when a predetermined user operation is performed, when a regular correction process start time comes, a predetermined amount of When correction data is stored in the storage unit 322, and the like.
  • FIG. 7 is a diagram illustrating an example (second example) of a processing sequence performed by the measurement system 10 according to the first embodiment. In the second example, a process until the measurement system 10 stores each measurement data in the cloud server 16 (storage unit 322) will be described.
  • the state switching unit 305 activates the measurement module 100 (step S701). Thereafter, in the smartphone 14, the instruction transmission unit 311 transmits an instruction to switch to the “normal operation mode” to the measurement module 100 (step S702). In the measurement module 100, when the instruction receiving unit 304 receives the instruction to switch to the “normal operation mode” transmitted from the smartphone 14 (step S703), the state switching unit 305 sets the measurement module 100 to the “normal operation mode”. Switching (step S704).
  • step S705 when each acquisition part (acceleration acquisition part 301, angular velocity acquisition part 302, geomagnetism acquisition part 303) acquires each measurement data (acceleration, angular velocity, and geomagnetism) (step S705), the output part 307 will perform each said measurement. Data is output to the smartphone 14 (step S706).
  • the transfer unit 313 transfers the measurement data to the cloud server 16 (step S708).
  • the correction unit 324 uses the correction value stored in the memory for the acceleration of the measurement data. (Step S710), the storage unit 322 stores the measurement data (step S711).
  • step S705 the processing from step S705 to step S711 is performed.
  • step S711 the measurement data (acceleration corrected) is stored in the storage unit 322.
  • the measurement data is stored in the storage unit 322 after correcting the acceleration included in the measurement data.
  • the present invention is not limited to this, and for example, the measurement data is stored in the storage unit 322. After accumulating, the acceleration included in the measurement data may be corrected.
  • FIG. 8 is a diagram for explaining a correction value calculation method by the correction value calculation unit 323 according to the first embodiment.
  • the correction value calculation unit 323 uses a plurality of correction data stored in the storage unit 322 as a composite vector 1G of accelerations of three axes (X axis, Y axis, Z axis) orthogonal to each other. Is used as data on the spherical surface of a virtual sphere with a radius of, and the center coordinate value of the virtual sphere is calculated.
  • the correction value calculation unit 323 corresponds to N correction data (m xi , m yi , m zi ) (corresponding to X-axis correction data, Y-axis correction data, and Z-axis correction data, respectively).
  • i is 1 to N
  • the center coordinate value (a, b, c) of the virtual sphere is calculated by the following determinant (1).
  • a 2 + b 2 + c 2 ⁇ r 2 ⁇ 2d.
  • correction value calculation unit 323 may calculate the center coordinate value of a virtual sphere that is likely to be the center using the least square method.
  • the measurement is performed by the acceleration sensor 111 when the measurement module 100 is in the sleep mode and when the measurement module 100 (that is, the ball 12) is in a stationary state.
  • the configuration in which the measured acceleration is output from the measurement module 100 as correction data for the acceleration sensor 111 is employed.
  • the measurement system 10 of 1st Embodiment can obtain the data for correction
  • a center coordinate value of a virtual sphere is calculated using a plurality of correction data stored in the cloud server 16 (storage unit 322), and the center coordinate value is calculated. Based on this, a configuration for calculating a correction value of acceleration output from the acceleration sensor 111 is adopted.
  • the measurement system 10 according to the first embodiment can calculate the acceleration measured by the acceleration sensor 111 when the ball 12 is in a stationary state, regardless of the direction the ball 12 faces. It can be used as correction data. That is, when the user finishes using the ball 12, the user may place the ball 12 at an arbitrary position (for example, in a case, a foot, etc.) without being aware of the direction of the ball 12. Therefore, according to the measurement system 10 of the first embodiment, it is possible to correct the acceleration output from the acceleration sensor 111 without making the user aware of the direction of the ball 12.
  • FIG. 9 is a diagram illustrating a functional configuration of a measurement system 10A according to the second embodiment.
  • the measurement system 10 ⁇ / b> A is different from the measurement system 10 of the first embodiment in that the cloud server 16 is not provided and a smartphone 14 ⁇ / b> A is provided instead of the smartphone 14.
  • the smartphone 14A includes a storage unit 314, a correction value calculation unit 315, and a correction unit 316.
  • the accumulation unit 314, the correction value calculation unit 315, and the correction unit 316 are the same as the accumulation unit 322, the correction value calculation unit 323, and the correction unit 324 described in the first embodiment.
  • each measurement data and correction data output from the measurement module 100 are stored in the smartphone 14A (storage unit 314).
  • the correction value of the acceleration sensor 111 is calculated by the smartphone 14A (correction value calculation unit 315).
  • the acceleration output from the acceleration sensor 111 is corrected by the smartphone 14A (correction unit 316).
  • FIG. 10 is a diagram illustrating an example of a processing sequence performed by the measurement system 10A according to the second embodiment.
  • the instruction transmission unit 311 transmits an instruction to switch to the “sleep mode” to the measurement module 100 (step S1001).
  • the state switching unit 305 causes the measurement module 100 to be in the “first sleep mode”. (Step S1003).
  • the output unit 307 uses the acceleration measured by the acceleration sensor 111 in the stationary state as correction data for the acceleration sensor 111, and the smartphone. It outputs to 14A (step S1005). Thereafter, the state switching unit 305 switches the measurement module 100 to the “second sleep mode” (step S1006).
  • the storage unit 314 stores the correction data (step S1008).
  • step S1004 the processing from step S1004 to step S1010 is executed, and correction data is accumulated in the accumulation unit 314 each time. Become.
  • the correction value calculation unit 315 performs the correction of the acceleration sensor 111 based on a plurality of correction data stored in the storage unit 314.
  • a correction value is calculated (step S1010).
  • the correction value is stored in a memory included in the smartphone 14 ⁇ / b> A, and is used by the correction unit 316 to correct the acceleration output from the acceleration sensor 111.
  • the occurrence factor of the predetermined correction value calculation process start event may be any, for example, when a predetermined user operation is performed, when a regular correction process start time comes, a predetermined amount of When correction data is stored in the storage unit 314, etc.
  • the state switching unit 305 activates the measurement module 100 (step S1011). Thereafter, in the smartphone 14A, the instruction transmission unit 311 transmits an instruction to switch to the “normal operation mode” to the measurement module 100 (step S1012). In the measurement module 100, when the instruction receiving unit 304 receives the instruction to switch to the “normal operation mode” transmitted from the smartphone 14A (step S1013), the state switching unit 305 sets the measurement module 100 to the “normal operation mode”. Switching (step S1014).
  • step S1015 when each acquisition part (acceleration acquisition part 301, angular velocity acquisition part 302, geomagnetism acquisition part 303) acquires each measurement data (acceleration, angular velocity, and geomagnetism) (step S1015), the output part 307 will perform each said measurement. Data is output to the smartphone 14A (step S1016).
  • the correction unit 316 uses the correction value stored in the memory for the acceleration of the measurement data. (Step S1018), the storage unit 314 stores the measurement data (step S1019).
  • step S1015 is measured by each sensor (acceleration sensor 111, gyro sensor 112, and geomagnetic sensor 113), the processing from step S1015 to step S1019 is performed.
  • the measurement data is stored in the storage unit 314.
  • the measurement data is stored in the storage unit 314.
  • the present invention is not limited to this.
  • the measurement data is stored in the storage unit 314. After accumulating, the acceleration included in the measurement data may be corrected.
  • the measurement is performed by the acceleration sensor 111 when the measurement module 100 is in the sleep mode and when the measurement module 100 (that is, the ball 12) is in a stationary state.
  • the configuration in which the measured acceleration is output from the measurement module 100 as correction data for the acceleration sensor 111 is employed.
  • 10 A of measurement systems of 2nd Embodiment can acquire the data for a correction
  • a center coordinate value of a virtual sphere is calculated using a plurality of correction data stored in the smartphone 14A (storage unit 314), and based on the center coordinate value.
  • a configuration for calculating a correction value of acceleration output from the acceleration sensor 111 is employed.
  • the measurement system 10A of the second embodiment can calculate the acceleration measured by the acceleration sensor 111 when the ball 12 is in the stationary state, regardless of the direction the ball 12 faces. It can be used as correction data. That is, when the user finishes using the ball 12, the user may place the ball 12 at an arbitrary position (for example, in a case, a foot, etc.) without being aware of the direction of the ball 12. Therefore, according to the measurement system 10A of the second embodiment, the acceleration output from the acceleration sensor 111 can be corrected without making the user aware of the direction of the ball 12.
  • FIG. 11 is a diagram illustrating a functional configuration of a measurement system 10B according to the third embodiment.
  • the measurement system 10 ⁇ / b> B includes the cloud server 16, the measurement module 100 ⁇ / b> A instead of the measurement module 100, and the smartphone 14 ⁇ / b> B instead of the smartphone 14. Different from the measurement system 10.
  • the measurement module 100A includes an accumulation unit 308, a correction value calculation unit 309, and a correction unit 310.
  • the accumulation unit 308, the correction value calculation unit 309, and the correction unit 310 are the same as the accumulation unit 322, the correction value calculation unit 323, and the correction unit 324 described in the first embodiment.
  • the storage unit 308 stores only correction data.
  • the correction data output from the measurement module 100 is accumulated in the measurement module 100 (accumulation unit 308).
  • the correction value of the acceleration sensor 111 is calculated by the measurement module 100 (correction value calculation unit 309).
  • the acceleration output from the acceleration sensor 111 is corrected by the measurement module 100 (correction unit 310).
  • the smartphone 14B includes the storage unit 314.
  • the storage unit 314 is the same as the storage unit 322 described in the first embodiment. However, the storage unit 314 stores only each measurement data.
  • each measurement data output from the measurement module 100 is stored in the smartphone 14B (storage unit 314).
  • FIG. 12 is a diagram illustrating an example of a processing sequence performed by the measurement system 10B according to the third embodiment.
  • the instruction transmission unit 311 transmits an instruction to switch to the “sleep mode” to the measurement module 100A (step S1201).
  • the state switching unit 305 sets the measurement module 100A to the “first sleep mode”. (Step S1203).
  • the output unit 307 When the determination unit 306 determines the stationary state of the measurement module 100A (step S1204), the output unit 307 accumulates the acceleration measured by the acceleration sensor 111 in the stationary state as correction data for the acceleration sensor 111. The data is output to the unit 308 (step S1205). In response to this, the storage unit 308 stores the correction data (step S1206). Thereafter, the state switching unit 305 switches the measurement module 100A to the “second sleep mode” (step S1207).
  • step S1204 the processing from step S1204 to step S1207 is executed, and the correction data is stored in the storage unit 308 of the measurement module 100A each time. It will be accumulated.
  • the correction value calculation unit 309 is based on the plurality of correction data stored in the storage unit 308, and the acceleration sensor 111. Is calculated (step S1209).
  • This correction value is stored in, for example, a memory included in the measurement module 100A, and is used by the correction unit 310 to correct the acceleration output from the acceleration sensor 111.
  • the occurrence factor of the predetermined correction value calculation process start event may be any, for example, when a predetermined user operation is performed, when a regular correction process start time comes, a predetermined amount of When correction data is stored in the storage unit 308, and so on.
  • the state switching unit 305 activates the measurement module 100A (step S1210).
  • the instruction transmission unit 311 transmits an instruction to switch to the “normal operation mode” to the measurement module 100A (step S1211).
  • the state switching unit 305 sets the measurement module 100A to the “normal operation mode”. Switching (step S1213).
  • step S1214 when each acquisition part (acceleration acquisition part 301, angular velocity acquisition part 302, geomagnetism acquisition part 303) acquires each measurement data (acceleration, angular velocity, and geomagnetism) (step S1214), the correction
  • the storage unit 314 stores the measurement data (step S1218).
  • step S1214 is performed.
  • step S1218 is performed.
  • the measurement data (acceleration corrected) is stored in the storage unit 314 of the smartphone 14B.
  • the measurement is performed by the acceleration sensor 111 when the measurement module 100A is in the sleep mode and when the measurement module 100A (that is, the ball 12) is in a stationary state.
  • the configuration in which the measured acceleration is stored in the measurement module 100A as correction data for the acceleration sensor 111 is employed.
  • the measurement system 10 ⁇ / b> B of the third embodiment can autonomously obtain correction data for the acceleration sensor 111 when the user is not using the ball 12. Therefore, according to the measurement system 10B of the third embodiment, the acceleration output from the acceleration sensor 111 can be corrected without making the user aware of the stationary state.
  • the center coordinate value of a virtual sphere is calculated using a plurality of correction data stored in the measurement module 100A (storage unit 308), and the center coordinate value is calculated. Based on this, a configuration for calculating a correction value of acceleration output from the acceleration sensor 111 is adopted.
  • the measurement system 10B of the third embodiment can calculate the acceleration measured by the acceleration sensor 111 when the ball 12 is in a stationary state, regardless of the direction the ball 12 faces. It can be used as correction data. That is, when the user finishes using the ball 12, the user may place the ball 12 at an arbitrary position (for example, in a case, a foot, etc.) without being aware of the direction of the ball 12. Therefore, according to the measurement system 10B of the third embodiment, the acceleration output from the acceleration sensor 111 can be corrected without making the user aware of the direction of the ball 12.
  • the measurement device (measurement module 100) of the present invention is provided on a sphere (ball 12) having a bobbin layer 12A.
  • the measurement device of the present invention is not limited to this. It may be provided in a sphere that does not have a layer, or any device other than a sphere.
  • Measurement module 100,100A has two sleep modes, it is not restricted to this, Measurement module 100,100A has one or three or more sleep modes It may be.
  • the measurement module 100,100A employ adopted the structure which switches to sleep mode as switching conditions to sleep mode that the switching signal was received from the outside, it is not restricted to this,
  • the measurement modules 100 and 100A have determined that the stationary state has continued for a certain period of time based on the acceleration measured by the acceleration sensor 111 (that is, the acceleration measured by the acceleration sensor 111 is below a predetermined threshold for a certain period of time).
  • a condition for switching to the sleep mode a configuration for voluntarily switching to the sleep mode may be employed.
  • amendment of acceleration is employ
  • calculation of a correction value is performed in the cloud server 16.
  • the measurement module 100 may be configured to correct the acceleration by transmitting the correction value to the measurement module 100.
  • the measurement module 100A employs a configuration in which the measurement data is output after correcting the acceleration of the measurement data.
  • the configuration is not limited thereto, and for example, the measurement module 100A In this case, a configuration may be adopted in which both measurement data and a correction value are output and acceleration is corrected for the measurement data at the output destination.
  • accumulation of correction data, calculation of correction values, and correction of acceleration may be performed by at least any device in the system, and may be performed by any device in the system.
  • the output unit 307 of the measurement modules 100 and 100A may output each measurement data (acceleration, angular velocity, and geomagnetism) in real time, and each measurement data is stored in the memory 115.
  • the data may be output collectively at a predetermined timing.
  • the output unit 307 of the measurement modules 100 and 100A may output the correction data of the acceleration sensor 111 in real time, and the correction data of the acceleration sensor 111 is stored in the memory 115.
  • the data may be output collectively at a predetermined timing.
  • the acceleration sensor 111 itself may correct the acceleration sensor 111 by supplying the acceleration sensor 111 with the correction value of the acceleration sensor 111. That is, the acceleration sensor 111 itself may output the corrected acceleration.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

L'invention concerne un appareil de mesure comprenant un capteur d'accélération et un dispositif de commande. L'appareil de mesure présente un mode de fonctionnement normal et un mode de veille qui consomme moins d'énergie électrique que le mode de fonctionnement normal, et le dispositif de commande comprend : une unité de détermination qui, lorsque l'appareil de mesure est en mode de veille, détermine un état de repos de l'appareil de mesure en fonction d'un taux d'accélération détecté par le capteur d'accélération; et une unité de sortie qui, lorsqu'il est déterminé que l'appareil de mesure se trouve dans l'état de repos, émet en sortie le taux d'accélération détecté par le capteur d'accélération pendant l'état de repos en tant que données de correction de la vitesse d'accélération.
PCT/JP2018/038444 2018-02-07 2018-10-16 Appareil de mesure, corps sphérique, système de mesure, procédé de commande et programme WO2019155691A1 (fr)

Applications Claiming Priority (2)

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JP2018-020134 2018-02-07
JP2018020134A JP2021056003A (ja) 2018-02-07 2018-02-07 計測装置、球体、計測システム、制御方法、およびプログラム

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006016671A1 (fr) * 2004-08-12 2006-02-16 Asahi Kasei Emd Corporation Dispositif de mesure d'accélération
JP2012086319A (ja) * 2010-10-20 2012-05-10 Tamagawa Seiki Co Ltd 産業用ロボットの速度位置解析システム及び産業用ロボットの速度位置検出装置
US20120203488A1 (en) * 2009-10-26 2012-08-09 Leica Geosystems Ag Method of calibrating inertial sensors
JP2015087388A (ja) * 2013-10-28 2015-05-07 フリースケール セミコンダクター インコーポレイテッド センサパッケージ内の磁力計のための信号誤差補償
US20160377650A1 (en) * 2015-06-29 2016-12-29 CloudNav Inc. Real-Time Accelerometer Calibration
US20170272902A1 (en) * 2014-08-22 2017-09-21 Nokia Technologies Oy Handling sensor information

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006016671A1 (fr) * 2004-08-12 2006-02-16 Asahi Kasei Emd Corporation Dispositif de mesure d'accélération
US20120203488A1 (en) * 2009-10-26 2012-08-09 Leica Geosystems Ag Method of calibrating inertial sensors
JP2012086319A (ja) * 2010-10-20 2012-05-10 Tamagawa Seiki Co Ltd 産業用ロボットの速度位置解析システム及び産業用ロボットの速度位置検出装置
JP2015087388A (ja) * 2013-10-28 2015-05-07 フリースケール セミコンダクター インコーポレイテッド センサパッケージ内の磁力計のための信号誤差補償
US20170272902A1 (en) * 2014-08-22 2017-09-21 Nokia Technologies Oy Handling sensor information
US20160377650A1 (en) * 2015-06-29 2016-12-29 CloudNav Inc. Real-Time Accelerometer Calibration

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